Deployable Multimodal Machine Intelligence. Applications in Biomedical Engineering

589 Pages·2023·23.445 MB·English

by  Hongliang Ren

Lecture Notes in Bioengineering
Hongliang Ren
Deployable
Multimodal
Machine
Intelligence
Applications in Biomedical Engineering
Lecture Notes in Bioengineering
Advisory Editors
Nigel H. Lovell, Graduate School of Biomedical Engineering, University of New
South Wales, Kensington, NSW, Australia
Luca Oneto, DIBRIS, Università di Genova, Genova, Italy
Stefano Piotto, Department of Pharmacy, University of Salerno, Fisciano, Italy
Federico Rossi, Department of Earth, University of Salerno, Fisciano, Siena, Italy
Alexei V. Samsonovich, Krasnow Institute for Advanced Study, George Mason
University, Fairfax, VA, USA
Fabio Babiloni, Department of Molecular Medicine, University of Rome Sapienza,
Rome, Italy
Adam Liwo, Faculty of Chemistry, University of Gdansk, Gdansk, Poland
Ratko Magjarevic, Faculty of Electrical Engineering and Computing, University of
Zagreb, Zagreb, Croatia
Lecture Notes in Bioengineering (LNBE) publishes the latest developments in
bioengineering. It covers a wide range of topics, including (but not limited to):
• Bio-inspired Technology & Biomimetics
• Biosensors
• Bionanomaterials
• Biomedical Instrumentation
• Biological Signal Processing
• Medical Robotics and Assistive Technology
• Computational Medicine, Computational Pharmacology and Computational
Biology
• Personalized Medicine
• Data Analysis in Bioengineering
• Neuroengineering
• Bioengineering Ethics
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to more specific book series. The series’ target audience includes advanced level
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Indexed by SCOPUS, INSPEC, zbMATH, SCImago.
Hongliang Ren
Deployable Multimodal
Machine Intelligence
Applications in Biomedical Engineering
Hongliang Ren
Department of Electronic Engineering
The Chinese University of Hong Kong
(CUHK)
Hong Kong, Hong Kong
Department of Biomedical Engineering
National University of Singapore
Singapore, Singapore
ISSN 2195-271X ISSN 2195-2728 (electronic)
Lecture Notes in Bioengineering
ISBN 978-981-19-5931-8 ISBN 978-981-19-5932-5 (eBook)
https://doi.org/10.1007/978-981-19-5932-5
© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature
Singapore Pte Ltd. 2023
This work is subject to copyright. All rights are solely and exclusively licensed by the Publisher, whether
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Contents
1 Preface and A Brief Guide to the Chapters ...................... 1
1.1 Steer DMs with Various Actuation Modalities ................ 2
1.2 Tethered and Insertable DM/DS ............................ 2
1.3 Inflatable DMs: From Tethered to Untethered ................ 4
1.4 Swallowable Magnetic DMs for Untethered Motions .......... 5
1.4.1 Permanent Magnet Actuation for External Field
Generation ....................................... 5
1.4.2 Electromagnetic Actuation for External Field
Generation ....................................... 7
1.4.3 Untethered Magnetoelastomer ...................... 7
1.5 Wearable DMs ........................................... 8
1.6 Deployable Sensing Mechanisms ........................... 9
1.7 Intelligent DMs with Multimodal Sensing ................... 10
1.8 Future Perspectives ....................................... 11
2 Orimimetic Folds into Deployable Mechanisms with Potential
Functionalities in Biomedical Robotics .......................... 13
2.1 Introduction ............................................. 14
2.2 Orimimetic Design and Its Role in Keyhole Procedures ........ 15
2.2.1 Origami for Rapid Design .......................... 15
2.2.2 Action Origami and Its Role in Keyhole Procedures ... 15
2.3 Origami-Inspired Technologies ............................. 16
2.3.1 Miura-Ori-Inspired Designs ........................ 17
2.3.2 Curved-Crease Origami ............................ 20
2.3.3 Waterbomb-Inspired Designs ....................... 23
2.3.4 Modified Mountain/Valley-Fold Origami ............. 24
2.4 Other Miscellaneous Origami Methods ...................... 26
2.4.1 Variably Patterned Graphene Structures .............. 26
2.4.2 Variably Patterned Cell-Based Designs ............... 27
v
vi Contents
2.5 Other Graspers ........................................... 30
2.5.1 Two-Jaw Surgical Graspers ......................... 30
2.5.2 Issues with the Traditional Two-Jaw Graspers ......... 31
2.6 Fortune-Teller-Inspired Grasper Designs ..................... 32
2.6.1 Modified Fortune Teller Design ..................... 32
2.6.2 Actuation Methods ................................ 34
2.6.3 Grasping Capability of Three Actuation Methods ...... 37
2.6.4 Range of Motion and Grasp Coverage ............... 37
2.6.5 Degrees of Freedom ............................... 38
2.6.6 Assembly from a Flat Surface and Flat Foldability ..... 38
2.7 Remarks ................................................ 39
References .................................................... 40
Part I Tethered Insertable DMs
3 Deployable and Interchangeable Telescoping Tubes ............... 45
3.1 Introduction ............................................. 46
3.2 Related Work ............................................ 46
3.2.1 Deployable and Collapsible Designs ................. 46
3.2.2 Actuations for Folding Structures ................... 48
3.2.3 Bistable and Locking Methods ...................... 49
3.3 Methods and Design ...................................... 49
3.3.1 Bistable FITT Structure ............................ 50
3.3.2 SCAT with a Tongue Depressor
and Tendon-Driven Swab .......................... 50
3.3.3 Tendon-Driven Mechanism (TDM) .................. 51
3.3.4 Modularity of Design: Interchangeable Tips .......... 51
3.4 Simulation .............................................. 52
3.5 Force Analysis Experiments ............................... 54
3.5.1 Bistability ....................................... 54
3.5.2 TDM Structure ................................... 56
3.6 Discussion .............................................. 59
3.7 Conclusion and Future Work ............................... 59
References .................................................... 60
4 Deployable Parallelogram Mechanism for Generating Remote
Centre of Motion Towards Ocular Procedures ................... 63
4.1 Introduction ............................................. 64
4.2 Ophthalmic Surgery ...................................... 64
4.3 Remote Centre of Motion ................................. 65
4.4 Comparison with Existing RCM Robot Mechanism ........... 67
4.5 Kinematic Design Considerations ........................... 67
4.5.1 Design Goals (DG) ............................... 68
4.5.2 Design Preference (DP) ............................ 69
4.6 Proposed Design ......................................... 69
Contents vii
4.7 Electrical Schematic Diagram .............................. 69
4.8 Experimentation Results and Observations ................... 72
4.9 Weight of Main RCM ..................................... 73
4.10 Belt and Pulley Backlash .................................. 73
4.11 Parts Assembly .......................................... 74
4.12 Conclusion .............................................. 75
4.13 Future Improvements ..................................... 76
References .................................................... 76
Part II Inflatable DMs: From Tethered to Untethered
5 Conceptual Origami Bending and Bistability for Transoral
Mechanisms .................................................. 81
5.1 Background ............................................. 82
5.2 Prioritize the Needs ....................................... 82
5.3 Design and Actuation ..................................... 83
5.3.1 Overall Origami Deployable Structures .............. 83
5.3.2 Origami Actuation Components & Bistability
Rationale ........................................ 85
5.4 Design Verifications ...................................... 89
5.4.1 Material Tests .................................... 89
5.4.2 Usability Tests ................................... 92
5.4.3 Summary of the Overall System .................... 96
5.5 Discussion .............................................. 98
5.5.1 Needs-Metrics Table .............................. 98
5.5.2 Failure Mode Analysis ............................ 98
5.5.3 Risk Assessment Matrix ........................... 100
5.6 Conclusion .............................................. 100
References .................................................... 102
6 Tactile Sensitive Origami Trihexaflexagon Gripper Actuated
by Foldable Pneumatic Bellows ................................. 103
6.1 Introduction ............................................. 104
6.2 Design and Construction .................................. 104
6.2.1 Gripper Body .................................... 105
6.2.2 Actuation Mechanism and Construction Protocol ...... 106
6.2.3 Working Principle of FlexagonBot .................. 110
6.3 Sensor Working Principle and Calibration .................... 112
6.3.1 Sensor Design .................................... 112
6.3.2 Sensor Working Principle .......................... 113
6.3.3 Sensor Calibration ................................ 114
6.4 Flexagonbot Payload Test ................................. 114
6.5 Payload Test Results and Discussion ........................ 118
6.6 Conclusions and Future Works ............................. 119
References .................................................... 120
viii Contents
7 Biomimetic Untethered Inflatable Origami ...................... 123
7.1 Introduction ............................................. 124
7.2 Related Work ............................................ 124
7.3 Materials and Methods .................................... 126
7.3.1 Prototype Design and Specifications ................. 126
7.3.2 Origami Exoskeleton Design ....................... 127
7.3.3 Valve and Arduino Setup .......................... 128
7.3.4 Reactant Compartment Design ...................... 130
7.3.5 Mechanism of SM ................................ 130
7.3.6 Paddle Fin Design ................................ 132
7.3.7 Proposed Tests ................................... 132
7.4 Results ................................................. 134
7.4.1 Design Input 1—Inflation .......................... 134
7.4.2 Design Input 2—Heaving Motion ................... 137
7.4.3 Design Input 3—Surge Motion ..................... 137
7.4.4 Design Input 4—Yaw Motion ....................... 138
7.5 Discussions ............................................. 139
7.5.1 Feature 1: Inflation ................................ 139
7.5.2 Feature 2: Heave Motion ........................... 140
7.5.3 Features 3 and 4: Surge and Yaw Motion ............. 140
7.5.4 Other Features ................................... 141
7.5.5 Future Applications ............................... 141
7.6 Conclusion .............................................. 141
Appendix 1 .................................................... 142
Appendix 2 .................................................... 150
Full Arduino Code ....................................... 150
Appendix 3 .................................................... 151
References .................................................... 152
Part III Swallowable Magnetic DMs for Untethered Motions
8 Wormigami and Tippysaurus: Magnetically Actuated
Origami Structures ............................................ 157
8.1 Introduction ............................................. 158
8.2 Wormigami Structure ..................................... 160
8.2.1 IPM Magnet Placement ............................ 160
8.3 Wormigami Motion Capabilities ............................ 161
8.3.1 Caterpillar-Wave Motion ........................... 161
8.3.2 Rolling .......................................... 162
8.3.3 Peristaltic ........................................ 166
8.3.4 Downward Dog .................................. 167
8.3.5 Slinky ........................................... 168
8.3.6 Hyperextension: “Head Lifting” .................... 169
8.3.7 Inchworm Motion ................................ 170
8.3.8 Comparison of Movements of the Model ............. 171
Contents ix
8.4 Tippysaurus Structure ..................................... 172
8.5 Tippysaurus Motion Capability ............................. 173
8.6 Material Testing .......................................... 177
8.7 Wormigami: Compression and Tensile Tests .................. 178
8.7.1 Compression Test for Paper with Mod-Podge
Without IPM ..................................... 178
8.7.2 Compression Test for Paper with Mod-Podge
Coating and IPM ................................. 179
8.7.3 Compression Ratio for the Plastic Model Without
IPM ............................................ 179
8.7.4 Tensile Test for Paper Model with Mod-Podge
Without IPM ..................................... 179
8.7.5 Tensile Test for Paper with Mod-Podge with IPM ...... 181
8.7.6 Tensile Test for Plastic Without IPM ................. 181
8.8 Tippysaurus: Compression and Tensile Tests ................. 181
8.8.1 Compression Test for Paper with Mod-Podge
Without IPM ..................................... 181
8.8.2 Compression for Plastic Without IPM ................ 182
8.8.3 Compression for Paper with Mod-Podge with IPM .... 183
8.8.4 Tensile Test for Paper with Mod-Podge Without
IPM ............................................ 184
8.8.5 Tensile Test for Plastic Without IPM ................. 184
8.8.6 Tensile Test for Paper with Mod-Podge with IPM ...... 185
8.9 Force Assessment ........................................ 186
8.9.1 Contact Force on the Surface ....................... 186
8.9.2 Vertical Force Assessment ......................... 186
8.9.3 Overall Force Output .............................. 188
8.9.4 Unsupervised Contact Between External Magnet
and Human Body ................................. 188
8.9.5 EPM Contact Monitoring .......................... 189
8.10 Conclusion and Remarks .................................. 191
References .................................................... 191
9 Untethered Motion Generation and Characterization
of Multi-Leg Insect-Size Soft Foldable Robots Under
Magnetic Actuation ........................................... 195
9.1 Introduction ............................................. 195
9.2 Literature Review ........................................ 196
9.3 Methodology ............................................ 202
9.4 Results and Discussion .................................... 205
9.4.1 Wave Motion-Induced Along the Horizontal Plane ..... 205
9.4.2 Compression of the Prototype ...................... 205
9.4.3 Lateral Extension with Respect to the Frontal
Plane of the Prototype ............................. 209
9.4.4 Motion Along a Stable Board Surface ................ 210